Merge pull request 'DHB Update' (#144) from KSat/fsfw:mueller/feature/DHBupdate into master

Reviewed-on: fsfw/fsfw#144

devicehandlers/ChildHandlerBase.cpp

@@ -1,17 +1,19 @@
 #include "../subsystem/SubsystemBase.h"
-#include "ChildHandlerBase.h"
+#include "../devicehandlers/ChildHandlerBase.h"
 #include "../subsystem/SubsystemBase.h"
 
 ChildHandlerBase::ChildHandlerBase(object_id_t setObjectId,
-		object_id_t deviceCommunication, CookieIF * comCookie,
+		object_id_t deviceCommunication, CookieIF * cookie,
-		uint8_t setDeviceSwitch, uint32_t thermalStatePoolId,
+		uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId,
-		uint32_t thermalRequestPoolId, uint32_t parent,
+		object_id_t parent, FailureIsolationBase* customFdir,
-		FailureIsolationBase* customFdir, size_t cmdQueueSize) :
+		size_t cmdQueueSize) :
-		DeviceHandlerBase(setObjectId, deviceCommunication, comCookie,
+		DeviceHandlerBase(setObjectId, deviceCommunication, cookie,
-				setDeviceSwitch, thermalStatePoolId,thermalRequestPoolId,
+			(customFdir == nullptr? &childHandlerFdir : customFdir),
-				(customFdir == nullptr? &childHandlerFdir : customFdir),
+			cmdQueueSize),
-				cmdQueueSize),
 		parentId(parent), childHandlerFdir(setObjectId) {
+	this->setThermalStateRequestPoolIds(thermalStatePoolId,
+			thermalRequestPoolId);
+
 }
 
 ChildHandlerBase::~ChildHandlerBase() {
@@ -25,7 +27,7 @@ ReturnValue_t ChildHandlerBase::initialize() {
 
 	MessageQueueId_t parentQueue = 0;
 
-	if (parentId != 0) {
+	if (parentId != objects::NO_OBJECT) {
 		SubsystemBase *parent = objectManager->get<SubsystemBase>(parentId);
 		if (parent == NULL) {
 			return RETURN_FAILED;

devicehandlers/ChildHandlerBase.h

@@ -1,15 +1,15 @@
-#ifndef PAYLOADHANDLERBASE_H_
+#ifndef FSFW_DEVICES_CHILDHANDLERBASE_H_
-#define PAYLOADHANDLERBASE_H_
+#define FSFW_DEVICES_CHILDHANDLERBASE_H_
 
 #include "ChildHandlerFDIR.h"
 #include "DeviceHandlerBase.h"
 
 class ChildHandlerBase: public DeviceHandlerBase {
 public:
-	ChildHandlerBase(object_id_t setObjectId,
+	ChildHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication,
-			object_id_t deviceCommunication, CookieIF * comCookie,
+			CookieIF * cookie, uint32_t thermalStatePoolId,
-			uint8_t setDeviceSwitch, uint32_t thermalStatePoolId,
+			uint32_t thermalRequestPoolId,
-			uint32_t thermalRequestPoolId, uint32_t parent,
+			object_id_t parent = objects::NO_OBJECT,
 			FailureIsolationBase* customFdir = nullptr,
 			size_t cmdQueueSize = 20);
 	virtual ~ChildHandlerBase();
@@ -22,4 +22,5 @@ protected:
 
 };
 
-#endif /* PAYLOADHANDLERBASE_H_ */
+#endif /* FSFW_DEVICES_CHILDHANDLERBASE_H_ */
+

devicehandlers/DeviceHandlerBase.cpp

@@ -1,12 +1,12 @@
 #include "DeviceHandlerBase.h"
+#include "AcceptsDeviceResponsesIF.h"
+#include "DeviceTmReportingWrapper.h"
+
 #include "../objectmanager/ObjectManager.h"
 #include "../storagemanager/StorageManagerIF.h"
 #include "../thermal/ThermalComponentIF.h"
-#include "AcceptsDeviceResponsesIF.h"
-
 #include "../datapool/DataSet.h"
 #include "../datapool/PoolVariable.h"
-#include "DeviceTmReportingWrapper.h"
 #include "../globalfunctions/CRC.h"
 #include "../subsystem/SubsystemBase.h"
 #include "../ipc/QueueFactory.h"
@@ -14,45 +14,47 @@
 
 #include <iomanip>
 
-object_id_t DeviceHandlerBase::powerSwitcherId = 0;
+object_id_t DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
-object_id_t DeviceHandlerBase::rawDataReceiverId = 0;
+object_id_t DeviceHandlerBase::rawDataReceiverId = objects::NO_OBJECT;
-object_id_t DeviceHandlerBase::defaultFDIRParentId = 0;
+object_id_t DeviceHandlerBase::defaultFdirParentId = objects::NO_OBJECT;
 
 DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId,
 		object_id_t deviceCommunication, CookieIF * comCookie,
-		uint8_t setDeviceSwitch, uint32_t thermalStatePoolId,
+		FailureIsolationBase* fdirInstance, size_t cmdQueueSize) :
-		uint32_t thermalRequestPoolId, FailureIsolationBase* fdirInstance,
-		size_t cmdQueueSize) :
 		SystemObject(setObjectId), mode(MODE_OFF), submode(SUBMODE_NONE),
 		wiretappingMode(OFF), storedRawData(StorageManagerIF::INVALID_ADDRESS),
 		deviceCommunicationId(deviceCommunication), comCookie(comCookie),
-		deviceThermalStatePoolId(thermalStatePoolId),
-		deviceThermalRequestPoolId(thermalRequestPoolId),
 		healthHelper(this,setObjectId), modeHelper(this), parameterHelper(this),
-		childTransitionFailure(RETURN_OK), fdirInstance(fdirInstance),
+		actionHelper(this, nullptr), childTransitionFailure(RETURN_OK),
-		hkSwitcher(this), defaultFDIRUsed(fdirInstance == nullptr),
+		fdirInstance(fdirInstance), hkSwitcher(this),
-		switchOffWasReported(false), actionHelper(this, nullptr),
+		defaultFDIRUsed(fdirInstance == nullptr), switchOffWasReported(false),
-		childTransitionDelay(5000),
+		childTransitionDelay(5000), transitionSourceMode(_MODE_POWER_DOWN),
-		transitionSourceMode(_MODE_POWER_DOWN), transitionSourceSubMode(
+		transitionSourceSubMode(SUBMODE_NONE) {
-		SUBMODE_NONE), deviceSwitch(setDeviceSwitch) {
 	commandQueue = QueueFactory::instance()->createMessageQueue(cmdQueueSize,
-			CommandMessage::MAX_MESSAGE_SIZE);
+			MessageQueueMessage::MAX_MESSAGE_SIZE);
 	insertInCommandMap(RAW_COMMAND_ID);
 	cookieInfo.state = COOKIE_UNUSED;
 	cookieInfo.pendingCommand = deviceCommandMap.end();
 	if (comCookie == nullptr) {
-		sif::error << "DeviceHandlerBase: ObjectID 0x" << std::hex <<
+		sif::error << "DeviceHandlerBase: ObjectID 0x" << std::hex
-				std::setw(8) << std::setfill('0') << this->getObjectId() <<
+				<< std::setw(8) << std::setfill('0') << this->getObjectId()
-				std::dec << ": Do not pass nullptr as a cookie, consider "
+				<< std::dec << ": Do not pass nullptr as a cookie, consider "
-				<< std::setfill(' ') << "passing a dummy cookie instead!" <<
+				<< std::setfill(' ') << "passing a dummy cookie instead!"
-				std::endl;
+				<< std::endl;
 	}
 	if (this->fdirInstance == nullptr) {
 		this->fdirInstance = new DeviceHandlerFailureIsolation(setObjectId,
-				defaultFDIRParentId);
+				defaultFdirParentId);
 	}
 }
 
+void DeviceHandlerBase::setThermalStateRequestPoolIds(
+		uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId) {
+	this->deviceThermalRequestPoolId = thermalStatePoolId;
+	this->deviceThermalRequestPoolId = thermalRequestPoolId;
+}
+
+
 DeviceHandlerBase::~DeviceHandlerBase() {
 	delete comCookie;
 	if (defaultFDIRUsed) {
@@ -108,8 +110,12 @@ ReturnValue_t DeviceHandlerBase::initialize() {
 
 	communicationInterface = objectManager->get<DeviceCommunicationIF>(
 			deviceCommunicationId);
-	if (communicationInterface == NULL) {
+	if (communicationInterface == nullptr) {
-		return RETURN_FAILED;
+		sif::error << "DeviceHandlerBase::initialize: Communication interface "
+				"invalid." << std::endl;
+		sif::error << "Make sure it is set up properly and implements"
+				" DeviceCommunicationIF" << std::endl;
+		return ObjectManagerIF::CHILD_INIT_FAILED;
 	}
 
 	result = communicationInterface->initializeInterface(comCookie);
@@ -118,27 +124,40 @@ ReturnValue_t DeviceHandlerBase::initialize() {
 	}
 
 	IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
-	if (IPCStore == NULL) {
+	if (IPCStore == nullptr) {
-		return RETURN_FAILED;
+		sif::error << "DeviceHandlerBase::initialize: IPC store not set up in "
+				"factory." << std::endl;
+		return ObjectManagerIF::CHILD_INIT_FAILED;
 	}
 
-	AcceptsDeviceResponsesIF *rawReceiver = objectManager->get<
+	if(rawDataReceiverId != objects::NO_OBJECT) {
-			AcceptsDeviceResponsesIF>(rawDataReceiverId);
+		AcceptsDeviceResponsesIF *rawReceiver = objectManager->get<
+				AcceptsDeviceResponsesIF>(rawDataReceiverId);
 
-	if (rawReceiver == NULL) {
+		if (rawReceiver == nullptr) {
-		return RETURN_FAILED;
+			sif::error << "DeviceHandlerBase::initialize: Raw receiver object "
+					"ID set but no valid object found." << std::endl;
+			sif::error << "Make sure the raw receiver object is set up properly"
+					" and implements AcceptsDeviceResponsesIF" << std::endl;
+			return ObjectManagerIF::CHILD_INIT_FAILED;
+		}
+		defaultRawReceiver = rawReceiver->getDeviceQueue();
 	}
 
-	defaultRawReceiver = rawReceiver->getDeviceQueue();
+	if(powerSwitcherId != objects::NO_OBJECT) {
-
+		powerSwitcher = objectManager->get<PowerSwitchIF>(powerSwitcherId);
-	powerSwitcher = objectManager->get<PowerSwitchIF>(powerSwitcherId);
+		if (powerSwitcher == nullptr) {
-	if (powerSwitcher == NULL) {
+			sif::error << "DeviceHandlerBase::initialize: Power switcher "
-		return RETURN_FAILED;
+					<< "object ID set but no valid object found." << std::endl;
+			sif::error << "Make sure the raw receiver object is set up properly"
+					<< " and implements PowerSwitchIF" << std::endl;
+			return ObjectManagerIF::CHILD_INIT_FAILED;
+		}
 	}
 
 	result = healthHelper.initialize();
 	if (result != RETURN_OK) {
-		return result;
+	    return result;
 	}
 
 	result = modeHelper.initialize();
@@ -168,7 +187,7 @@ ReturnValue_t DeviceHandlerBase::initialize() {
 
 	//Set temperature target state to NON_OP.
 	DataSet mySet;
-	PoolVariable<int8_t> thermalRequest(deviceThermalRequestPoolId, &mySet,
+	db_int8_t thermalRequest(deviceThermalRequestPoolId, &mySet,
 			PoolVariableIF::VAR_WRITE);
 	mySet.read();
 	thermalRequest = ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL;
@@ -200,38 +219,43 @@ void DeviceHandlerBase::readCommandQueue() {
 		return;
 	}
 
-	CommandMessage message;
+	CommandMessage command;
-	ReturnValue_t result = commandQueue->receiveMessage(&message);
+	ReturnValue_t result = commandQueue->receiveMessage(&command);
 	if (result != RETURN_OK) {
 		return;
 	}
 
-	result = healthHelper.handleHealthCommand(&message);
+	result = healthHelper.handleHealthCommand(&command);
+	if (result == RETURN_OK) {
+	    return;
+	}
+
+	result = modeHelper.handleModeCommand(&command);
 	if (result == RETURN_OK) {
 		return;
 	}
 
-	result = modeHelper.handleModeCommand(&message);
+	result = actionHelper.handleActionMessage(&command);
 	if (result == RETURN_OK) {
 		return;
 	}
 
-	result = actionHelper.handleActionMessage(&message);
+	result = parameterHelper.handleParameterMessage(&command);
 	if (result == RETURN_OK) {
 		return;
 	}
 
-	result = parameterHelper.handleParameterMessage(&message);
+//	result = hkManager.handleHousekeepingMessage(&command);
+//	if (result == RETURN_OK) {
+//		return;
+//	}
+
+	result = handleDeviceHandlerMessage(&command);
 	if (result == RETURN_OK) {
 		return;
 	}
 
-	result = handleDeviceHandlerMessage(&message);
+	result = letChildHandleMessage(&command);
-	if (result == RETURN_OK) {
-		return;
-	}
-
-	result = letChildHandleMessage(&message);
 	if (result == RETURN_OK) {
 		return;
 	}
@@ -273,7 +297,8 @@ void DeviceHandlerBase::doStateMachine() {
 	case _MODE_WAIT_ON: {
 		uint32_t currentUptime;
 		Clock::getUptime(&currentUptime);
-		if (currentUptime - timeoutStart >= powerSwitcher->getSwitchDelayMs()) {
+		if (powerSwitcher != nullptr and currentUptime - timeoutStart >=
+				powerSwitcher->getSwitchDelayMs()) {
 			triggerEvent(MODE_TRANSITION_FAILED, PowerSwitchIF::SWITCH_TIMEOUT,
 					0);
 			setMode(_MODE_POWER_DOWN);
@@ -293,6 +318,12 @@ void DeviceHandlerBase::doStateMachine() {
 	case _MODE_WAIT_OFF: {
 		uint32_t currentUptime;
 		Clock::getUptime(&currentUptime);
+
+		if(powerSwitcher == nullptr) {
+		    setMode(MODE_OFF);
+		    break;
+		}
+
 		if (currentUptime - timeoutStart >= powerSwitcher->getSwitchDelayMs()) {
 			triggerEvent(MODE_TRANSITION_FAILED, PowerSwitchIF::SWITCH_TIMEOUT,
 					0);
@@ -343,9 +374,10 @@ ReturnValue_t DeviceHandlerBase::isModeCombinationValid(Mode_t mode,
 	}
 }
 
-ReturnValue_t DeviceHandlerBase::insertInCommandAndReplyMap(DeviceCommandId_t deviceCommand,
+ReturnValue_t DeviceHandlerBase::insertInCommandAndReplyMap(
-		uint16_t maxDelayCycles, size_t replyLen, bool periodic,
+		DeviceCommandId_t deviceCommand, uint16_t maxDelayCycles,
-		bool hasDifferentReplyId, DeviceCommandId_t replyId) {
+		size_t replyLen, bool periodic, bool hasDifferentReplyId,
+		DeviceCommandId_t replyId) {
 	//No need to check, as we may try to insert multiple times.
 	insertInCommandMap(deviceCommand);
 	if (hasDifferentReplyId) {
@@ -371,7 +403,8 @@ ReturnValue_t DeviceHandlerBase::insertInReplyMap(DeviceCommandId_t replyId,
 	}
 }
 
-ReturnValue_t DeviceHandlerBase::insertInCommandMap(DeviceCommandId_t deviceCommand) {
+ReturnValue_t DeviceHandlerBase::insertInCommandMap(
+		DeviceCommandId_t deviceCommand) {
 	DeviceCommandInfo info;
 	info.expectedReplies = 0;
 	info.isExecuting = false;
@@ -419,7 +452,7 @@ void DeviceHandlerBase::setTransition(Mode_t modeTo, Submode_t submodeTo) {
 	transitionSourceSubMode = submode;
 	childTransitionFailure = CHILD_TIMEOUT;
 
-//transitionTargetMode is set by setMode
+	// transitionTargetMode is set by setMode
 	setMode((modeTo | TRANSITION_MODE_CHILD_ACTION_MASK), submodeTo);
 }
 
@@ -437,7 +470,7 @@ void DeviceHandlerBase::setMode(Mode_t newMode, uint8_t newSubmode) {
 
 	if (mode == MODE_OFF) {
 		DataSet mySet;
-		PoolVariable<int8_t> thermalRequest(deviceThermalRequestPoolId, &mySet,
+		db_int8_t thermalRequest(deviceThermalRequestPoolId, &mySet,
 				PoolVariableIF::VAR_READ_WRITE);
 		mySet.read();
 		if (thermalRequest != ThermalComponentIF::STATE_REQUEST_IGNORE) {
@@ -578,11 +611,8 @@ void DeviceHandlerBase::doSendRead() {
 }
 
 void DeviceHandlerBase::doGetRead() {
-	size_t receivedDataLen;
+	size_t receivedDataLen = 0;
-	uint8_t *receivedData;
+	uint8_t *receivedData = nullptr;
-	DeviceCommandId_t foundId = 0xFFFFFFFF;
-	size_t foundLen = 0;
-	ReturnValue_t result;
 
 	if (cookieInfo.state != COOKIE_READ_SENT) {
 		cookieInfo.state = COOKIE_UNUSED;
@@ -591,8 +621,8 @@ void DeviceHandlerBase::doGetRead() {
 
 	cookieInfo.state = COOKIE_UNUSED;
 
-	result = communicationInterface->readReceivedMessage(comCookie,
+	ReturnValue_t result = communicationInterface->readReceivedMessage(
-			&receivedData, &receivedDataLen);
+			comCookie, &receivedData, &receivedDataLen);
 
 	if (result != RETURN_OK) {
 		triggerEvent(DEVICE_REQUESTING_REPLY_FAILED, result);
@@ -608,51 +638,101 @@ void DeviceHandlerBase::doGetRead() {
 		replyRawData(receivedData, receivedDataLen, requestedRawTraffic);
 	}
 
-	if (mode == MODE_RAW) {
+	if (mode == MODE_RAW and defaultRawReceiver != MessageQueueIF::NO_QUEUE) {
 		replyRawReplyIfnotWiretapped(receivedData, receivedDataLen);
-	} else {
+	}
-		//The loop may not execute more often than the number of received bytes (worst case).
+	else {
-		//This approach avoids infinite loops due to buggy scanForReply routines (seen in bug 1077).
+		parseReply(receivedData, receivedDataLen);
-		uint32_t remainingLength = receivedDataLen;
+	}
-		for (uint32_t count = 0; count < receivedDataLen; count++) {
+}
-			result = scanForReply(receivedData, remainingLength, &foundId,
+
-					&foundLen);
+void DeviceHandlerBase::parseReply(const uint8_t* receivedData,
-			switch (result) {
+		size_t receivedDataLen) {
-			case RETURN_OK:
+	ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
-				handleReply(receivedData, foundId, foundLen);
+	DeviceCommandId_t foundId = 0xFFFFFFFF;
-				break;
+	size_t foundLen = 0;
-			case APERIODIC_REPLY: {
+	// The loop may not execute more often than the number of received bytes
-				result = interpretDeviceReply(foundId, receivedData);
+	// (worst case). This approach avoids infinite loops due to buggy
-				if (result != RETURN_OK) {
+	// scanForReply routines.
-					replyRawReplyIfnotWiretapped(receivedData, foundLen);
+	uint32_t remainingLength = receivedDataLen;
-					triggerEvent(DEVICE_INTERPRETING_REPLY_FAILED, result,
+	for (uint32_t count = 0; count < receivedDataLen; count++) {
-							foundId);
+		result = scanForReply(receivedData, remainingLength, &foundId,
-				}
+				&foundLen);
-			}
+		switch (result) {
-				break;
+		case RETURN_OK:
-			case IGNORE_REPLY_DATA:
+			handleReply(receivedData, foundId, foundLen);
-				break;
+			break;
-			case IGNORE_FULL_PACKET:
+		case APERIODIC_REPLY: {
-				return;
+			result = interpretDeviceReply(foundId, receivedData);
-			default:
+			if (result != RETURN_OK) {
-				//We need to wait for timeout.. don't know what command failed and who sent it.
 				replyRawReplyIfnotWiretapped(receivedData, foundLen);
-				triggerEvent(DEVICE_READING_REPLY_FAILED, result, foundLen);
+				triggerEvent(DEVICE_INTERPRETING_REPLY_FAILED, result,
-				break;
+						foundId);
-			}
-			receivedData += foundLen;
-			if (remainingLength > foundLen) {
-				remainingLength -= foundLen;
-			} else {
-				return;
 			}
 		}
+		break;
+		case IGNORE_REPLY_DATA:
+			break;
+		case IGNORE_FULL_PACKET:
+			return;
+		default:
+			//We need to wait for timeout.. don't know what command failed and who sent it.
+			replyRawReplyIfnotWiretapped(receivedData, foundLen);
+			triggerEvent(DEVICE_READING_REPLY_FAILED, result, foundLen);
+			break;
+		}
+		receivedData += foundLen;
+		if (remainingLength > foundLen) {
+			remainingLength -= foundLen;
+		} else {
+			return;
+		}
+	}
+}
 
+void DeviceHandlerBase::handleReply(const uint8_t* receivedData,
+		DeviceCommandId_t foundId, uint32_t foundLen) {
+	ReturnValue_t result;
+	DeviceReplyMap::iterator iter = deviceReplyMap.find(foundId);
+
+	if (iter == deviceReplyMap.end()) {
+		replyRawReplyIfnotWiretapped(receivedData, foundLen);
+		triggerEvent(DEVICE_UNKNOWN_REPLY, foundId);
+		return;
+	}
+
+	DeviceReplyInfo *info = &(iter->second);
+
+	if (info->delayCycles != 0) {
+
+		if (info->periodic != false) {
+			info->delayCycles = info->maxDelayCycles;
+		}
+		else {
+			info->delayCycles = 0;
+		}
+
+		result = interpretDeviceReply(foundId, receivedData);
+
+		if (result != RETURN_OK) {
+			// Report failed interpretation to FDIR.
+			replyRawReplyIfnotWiretapped(receivedData, foundLen);
+			triggerEvent(DEVICE_INTERPRETING_REPLY_FAILED, result, foundId);
+		}
+		replyToReply(iter, result);
+	}
+	else {
+		// Other completion failure messages are created by timeout.
+		// Powering down the device might take some time during which periodic
+		// replies may still come in.
+		if (mode != _MODE_WAIT_OFF) {
+			triggerEvent(DEVICE_UNREQUESTED_REPLY, foundId);
+		}
 	}
 }
 
 ReturnValue_t DeviceHandlerBase::getStorageData(store_address_t storageAddress,
-		uint8_t * *data, uint32_t * len) {
+		uint8_t** data, uint32_t * len) {
 	size_t lenTmp;
 
 	if (IPCStore == nullptr) {
@@ -675,7 +755,7 @@ ReturnValue_t DeviceHandlerBase::getStorageData(store_address_t storageAddress,
 
 void DeviceHandlerBase::replyRawData(const uint8_t *data, size_t len,
 		MessageQueueId_t sendTo, bool isCommand) {
-	if (IPCStore == NULL || len == 0) {
+	if (IPCStore == nullptr or len == 0 or sendTo == MessageQueueIF::NO_QUEUE) {
 		return;
 	}
 	store_address_t address;
@@ -686,18 +766,17 @@ void DeviceHandlerBase::replyRawData(const uint8_t *data, size_t len,
 		return;
 	}
 
-	CommandMessage message;
+	CommandMessage command;
 
-	DeviceHandlerMessage::setDeviceHandlerRawReplyMessage(&message,
+	DeviceHandlerMessage::setDeviceHandlerRawReplyMessage(&command,
 			getObjectId(), address, isCommand);
 
-//	this->DeviceHandlerCommand = CommandMessage::CMD_NONE;
+	result = commandQueue->sendMessage(sendTo, &command);
-
-	result = commandQueue->sendMessage(sendTo, &message);
 
 	if (result != RETURN_OK) {
 		IPCStore->deleteData(address);
-		//Silently discard data, this indicates heavy TM traffic which should not be increased by additional events.
+		// Silently discard data, this indicates heavy TM traffic which
+		// should not be increased by additional events.
 	}
 }
 
@@ -726,57 +805,6 @@ MessageQueueId_t DeviceHandlerBase::getCommandQueue() const {
 	return commandQueue->getId();
 }
 
-void DeviceHandlerBase::handleReply(const uint8_t* receivedData,
-		DeviceCommandId_t foundId, uint32_t foundLen) {
-	ReturnValue_t result;
-	DeviceReplyMap::iterator iter = deviceReplyMap.find(foundId);
-
-	if (iter == deviceReplyMap.end()) {
-		replyRawReplyIfnotWiretapped(receivedData, foundLen);
-		triggerEvent(DEVICE_UNKNOWN_REPLY, foundId);
-		return;
-	}
-
-	DeviceReplyInfo *info = &(iter->second);
-
-	if (info->delayCycles != 0) {
-
-		if (info->periodic) {
-			info->delayCycles = info->maxDelayCycles;
-		} else {
-			info->delayCycles = 0;
-		}
-		result = interpretDeviceReply(foundId, receivedData);
-		if (result != RETURN_OK) {
-			//Report failed interpretation to FDIR.
-			replyRawReplyIfnotWiretapped(receivedData, foundLen);
-			triggerEvent(DEVICE_INTERPRETING_REPLY_FAILED, result, foundId);
-		}
-		replyToReply(iter, result);
-	} else {
-		//Other completion failure messages are created by timeout.
-		//Powering down the device might take some time during which periodic replies may still come in.
-		if (mode != _MODE_WAIT_OFF) {
-			triggerEvent(DEVICE_UNREQUESTED_REPLY, foundId);
-		}
-	}
-}
-
-//ReturnValue_t DeviceHandlerBase::switchCookieChannel(object_id_t newChannelId) {
-//	DeviceCommunicationIF *newCommunication = objectManager->get<
-//			DeviceCommunicationIF>(newChannelId);
-//
-//	if (newCommunication != NULL) {
-//		ReturnValue_t result = newCommunication->reOpen(cookie, ioBoardAddress,
-//				maxDeviceReplyLen);
-//		if (result != RETURN_OK) {
-//			return result;
-//		}
-//		return RETURN_OK;
-//	}
-//	return RETURN_FAILED;
-//}
-
 void DeviceHandlerBase::buildRawDeviceCommand(CommandMessage* commandMessage) {
 	storedRawData = DeviceHandlerMessage::getStoreAddress(commandMessage);
 	ReturnValue_t result = getStorageData(storedRawData, &rawPacket,
@@ -793,6 +821,9 @@ void DeviceHandlerBase::buildRawDeviceCommand(CommandMessage* commandMessage) {
 }
 
 void DeviceHandlerBase::commandSwitch(ReturnValue_t onOff) {
+	if(powerSwitcher == nullptr) {
+		return;
+	}
 	const uint8_t *switches;
 	uint8_t numberOfSwitches = 0;
 	ReturnValue_t result = getSwitches(&switches, &numberOfSwitches);
@@ -807,9 +838,7 @@ void DeviceHandlerBase::commandSwitch(ReturnValue_t onOff) {
 
 ReturnValue_t DeviceHandlerBase::getSwitches(const uint8_t **switches,
 		uint8_t *numberOfSwitches) {
-	*switches = &deviceSwitch;
+	return DeviceHandlerBase::NO_SWITCH;
-	*numberOfSwitches = 1;
-	return RETURN_OK;
 }
 
 void DeviceHandlerBase::modeChanged(void) {
@@ -845,6 +874,9 @@ uint32_t DeviceHandlerBase::getTransitionDelayMs(Mode_t modeFrom,
 }
 
 ReturnValue_t DeviceHandlerBase::getStateOfSwitches(void) {
+	if(powerSwitcher == nullptr) {
+		return NO_SWITCH;
+	}
 	uint8_t numberOfSwitches = 0;
 	const uint8_t *switches;
 
@@ -895,9 +927,9 @@ ReturnValue_t DeviceHandlerBase::checkModeCommand(Mode_t commandedMode,
 	if ((commandedMode == MODE_ON) && (mode == MODE_OFF)
 			&& (deviceThermalStatePoolId != PoolVariableIF::NO_PARAMETER)) {
 		DataSet mySet;
-		PoolVariable<int8_t> thermalState(deviceThermalStatePoolId, &mySet,
+		db_int8_t thermalState(deviceThermalStatePoolId, &mySet,
 				PoolVariableIF::VAR_READ);
-		PoolVariable<int8_t> thermalRequest(deviceThermalRequestPoolId, &mySet,
+		db_int8_t thermalRequest(deviceThermalRequestPoolId, &mySet,
 				PoolVariableIF::VAR_READ);
 		mySet.read();
 		if (thermalRequest != ThermalComponentIF::STATE_REQUEST_IGNORE) {
@@ -925,7 +957,7 @@ void DeviceHandlerBase::startTransition(Mode_t commandedMode,
 					MODE_ON);
 			triggerEvent(CHANGING_MODE, commandedMode, commandedSubmode);
 			DataSet mySet;
-			PoolVariable<int8_t> thermalRequest(deviceThermalRequestPoolId,
+			db_int8_t thermalRequest(deviceThermalRequestPoolId,
 					&mySet, PoolVariableIF::VAR_READ_WRITE);
 			mySet.read();
 			if (thermalRequest != ThermalComponentIF::STATE_REQUEST_IGNORE) {
@@ -997,8 +1029,8 @@ HasHealthIF::HealthState DeviceHandlerBase::getHealth() {
 }
 
 ReturnValue_t DeviceHandlerBase::setHealth(HealthState health) {
-	healthHelper.setHealth(health);
+    healthHelper.setHealth(health);
-	return HasReturnvaluesIF::RETURN_OK;
+    return HasReturnvaluesIF::RETURN_OK;
 }
 
 void DeviceHandlerBase::checkSwitchState() {
@@ -1111,35 +1143,47 @@ void DeviceHandlerBase::handleDeviceTM(SerializeIF* data,
 		return;
 	}
 	DeviceTmReportingWrapper wrapper(getObjectId(), replyId, data);
-	if (iter->second.command != deviceCommandMap.end()) {//replies to a command
+	//replies to a command
+	if (iter->second.command != deviceCommandMap.end())
+	{
 		MessageQueueId_t queueId = iter->second.command->second.sendReplyTo;
 
 		if (queueId != NO_COMMANDER) {
 			//This may fail, but we'll ignore the fault.
 			actionHelper.reportData(queueId, replyId, data);
 		}
+
 		//This check should make sure we get any TM but don't get anything doubled.
 		if (wiretappingMode == TM && (requestedRawTraffic != queueId)) {
 			actionHelper.reportData(requestedRawTraffic, replyId, &wrapper);
-		} else if (forceDirectTm && (defaultRawReceiver != queueId)) {
-
-			// hiding of sender needed so the service will handle it as unexpected Data, no matter what state
-			//(progress or completed) it is in
-			actionHelper.reportData(defaultRawReceiver, replyId, &wrapper,
-			true);
-
 		}
-	} else { //unrequested/aperiodic replies
+		else if (forceDirectTm and (defaultRawReceiver != queueId) and
-		if (wiretappingMode == TM) {
+					(defaultRawReceiver != MessageQueueIF::NO_QUEUE))
-			actionHelper.reportData(requestedRawTraffic, replyId, &wrapper);
+		{
-		} else if (forceDirectTm) {
+			// hiding of sender needed so the service will handle it as
-			// hiding of sender needed so the service will handle it as unexpected Data, no matter what state
+			// unexpected Data, no matter what state (progress or completed)
-			//(progress or completed) it is in
+			// it is in
 			actionHelper.reportData(defaultRawReceiver, replyId, &wrapper,
-			true);
+					true);
 		}
 	}
-//Try to cast to DataSet and commit data.
+	//unrequested/aperiodic replies
+	else
+	{
+		if (wiretappingMode == TM) {
+			actionHelper.reportData(requestedRawTraffic, replyId, &wrapper);
+		}
+		else if (forceDirectTm and defaultRawReceiver !=
+				MessageQueueIF::NO_QUEUE)
+		{
+			// hiding of sender needed so the service will handle it as
+			// unexpected Data, no matter what state (progress or completed)
+			// it is in
+			actionHelper.reportData(defaultRawReceiver, replyId, &wrapper,
+					true);
+		}
+	}
+	//Try to cast to GlobDataSet and commit data.
 	if (!neverInDataPool) {
 		DataSet* dataSet = dynamic_cast<DataSet*>(data);
 		if (dataSet != NULL) {
@@ -1178,18 +1222,23 @@ void DeviceHandlerBase::buildInternalCommand(void) {
 	if (mode == MODE_NORMAL) {
 		result = buildNormalDeviceCommand(&deviceCommandId);
 		if (result == BUSY) {
+		    //so we can track misconfigurations
 			sif::debug << std::hex << getObjectId()
-					<< ": DHB::buildInternalCommand busy" << std::endl; //so we can track misconfigurations
+					<< ": DHB::buildInternalCommand: Busy" << std::endl;
 			result = NOTHING_TO_SEND; //no need to report this
 		}
-	} else if (mode == MODE_RAW) {
+	}
+	else if (mode == MODE_RAW) {
 		result = buildChildRawCommand();
 		deviceCommandId = RAW_COMMAND_ID;
-	} else if (mode & TRANSITION_MODE_CHILD_ACTION_MASK) {
+	}
+	else if (mode & TRANSITION_MODE_CHILD_ACTION_MASK) {
 		result = buildTransitionDeviceCommand(&deviceCommandId);
-	} else {
+	}
+	else {
 		return;
 	}
+
 	if (result == NOTHING_TO_SEND) {
 		return;
 	}
@@ -1281,11 +1330,22 @@ void DeviceHandlerBase::changeHK(Mode_t mode, Submode_t submode, bool enable) {
 }
 
 void DeviceHandlerBase::setTaskIF(PeriodicTaskIF* task_){
-			executingTask = task_;
+	executingTask = task_;
 }
 
 // Default implementations empty.
 void DeviceHandlerBase::debugInterface(uint8_t positionTracker,
 		object_id_t objectId, uint32_t parameter) {}
 
-void DeviceHandlerBase::performOperationHook() {}
+void DeviceHandlerBase::performOperationHook() {
+}
+
+ReturnValue_t DeviceHandlerBase::initializeAfterTaskCreation() {
+    // In this function, the task handle should be valid if the task
+    // was implemented correctly. We still check to be 1000 % sure :-)
+    if(executingTask != nullptr) {
+        pstIntervalMs = executingTask->getPeriodMs();
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+

devicehandlers/DeviceHandlerBase.h

@@ -1,22 +1,23 @@
-#ifndef DEVICEHANDLERBASE_H_
+#ifndef FRAMEWORK_DEVICEHANDLERS_DEVICEHANDLERBASE_H_
-#define DEVICEHANDLERBASE_H_
+#define FRAMEWORK_DEVICEHANDLERS_DEVICEHANDLERBASE_H_
+
+#include "DeviceHandlerIF.h"
+#include "DeviceCommunicationIF.h"
+#include "DeviceHandlerFailureIsolation.h"
 
 #include "../objectmanager/SystemObject.h"
+#include "../tasks/PeriodicTaskIF.h"
 #include "../tasks/ExecutableObjectIF.h"
-#include "DeviceHandlerIF.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
 #include "../action/HasActionsIF.h"
 #include "../datapool/PoolVariableIF.h"
-#include "DeviceCommunicationIF.h"
 #include "../modes/HasModesIF.h"
 #include "../power/PowerSwitchIF.h"
 #include "../ipc/MessageQueueIF.h"
-
 #include "../action/ActionHelper.h"
 #include "../health/HealthHelper.h"
 #include "../parameters/ParameterHelper.h"
 #include "../datapool/HkSwitchHelper.h"
-#include "DeviceHandlerFailureIsolation.h"
 
 #include <map>
 
@@ -46,14 +47,16 @@ class StorageManagerIF;
  * If data has been received (GET_READ), the data will be interpreted.
  * The action for each step can be defined by the child class but as most
  * device handlers share a 4-call (sendRead-getRead-sendWrite-getWrite) structure,
- * a default implementation is provided. NOTE: RMAP is a standard which is used for FLP.
+ * a default implementation is provided.
+ * NOTE: RMAP is a standard which is used for FLP.
  * RMAP communication is not mandatory for projects implementing the FSFW.
  * However, the communication principles are similar to RMAP as there are
  * two write and two send calls involved.
  *
- * Device handler instances should extend this class and implement the abstract functions.
+ * Device handler instances should extend this class and implement the abstract
- * Components and drivers can send so called cookies which are used for communication
+ * functions. Components and drivers can send so called cookies which are used
- * and contain information about the communcation (e.g. slave address for I2C or RMAP structs).
+ * for communication and contain information about the communcation (e.g. slave
+ * address for I2C or RMAP structs).
  * The following abstract methods must be implemented by a device handler:
  *  1. doStartUp()
  *  2. doShutDown()
@@ -100,12 +103,12 @@ public:
 	 * @param cmdQueueSize
 	 */
 	DeviceHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication,
-			CookieIF * comCookie, uint8_t setDeviceSwitch,
+			CookieIF * comCookie, FailureIsolationBase* fdirInstance = nullptr,
-			uint32_t thermalStatePoolId = PoolVariableIF::NO_PARAMETER,
-			uint32_t thermalRequestPoolId = PoolVariableIF::NO_PARAMETER,
-			FailureIsolationBase* fdirInstance = nullptr,
 			size_t cmdQueueSize = 20);
 
+	void setThermalStateRequestPoolIds(uint32_t thermalStatePoolId,
+			uint32_t thermalRequestPoolId);
+
 	/**
 	 * @brief 	This function is the device handler base core component and is
 	 * 			called periodically.
@@ -150,11 +153,9 @@ public:
 	 * @return
 	 */
 	virtual ReturnValue_t initialize();
-
+	/** Destructor. */
-	/**
-	 * Destructor.
-	 */
 	virtual ~DeviceHandlerBase();
+
 protected:
 	/**
 	 * @brief 	This is used to let the child class handle the transition from
@@ -232,8 +233,9 @@ protected:
 	 * Build the device command to send for a transitional mode.
 	 *
 	 * This is only called in @c _MODE_TO_NORMAL, @c _MODE_TO_ON, @c _MODE_TO_RAW,
-	 * @c _MODE_START_UP and @c _MODE_TO_POWER_DOWN. So it is used by doStartUp()
+	 * @c _MODE_START_UP and @c _MODE_SHUT_DOWN. So it is used by doStartUp()
-	 * and doShutDown() as well as doTransition()
+	 * and doShutDown() as well as doTransition(), by setting those
+	 * modes in the respective functions.
 	 *
 	 * A good idea is to implement a flag indicating a command has to be built
 	 * and a variable containing the command number to be built
@@ -321,12 +323,11 @@ protected:
 	 *     - @c RETURN_FAILED when the reply could not be interpreted,
 	 *     e.g. logical errors or range violations occurred
 	 */
-
 	virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
 			const uint8_t *packet) = 0;
 
 	/**
-	 * @brief fill the #deviceCommandMap
+	 * @brief fill the #DeviceCommandMap and #DeviceReplyMap
 	 *	 	  called by the initialize() of the base class
 	 * @details
 	 * This is used to let the base class know which replies are expected.
@@ -470,6 +471,18 @@ protected:
 	virtual ReturnValue_t getSwitches(const uint8_t **switches,
 			uint8_t *numberOfSwitches);
 
+	/**
+	 * This function is used to initialize the local housekeeping pool
+	 * entries. The default implementation leaves the pool empty.
+	 * @param localDataPoolMap
+	 * @return
+	 */
+	//virtual ReturnValue_t initializePoolEntries(
+	//			LocalDataPool& localDataPoolMap) override;
+
+	/** Get the HK manager object handle */
+	//virtual LocalDataPoolManager* getHkManagerHandle() override;
+
 	/**
 	 * @brief 	Hook function for child handlers which is called once per
 	 * 			performOperation(). Default implementation is empty.
@@ -493,7 +506,7 @@ public:
 	ReturnValue_t setHealth(HealthState health);
 	virtual ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
 			ParameterWrapper *parameterWrapper,
-			const ParameterWrapper *newValues, uint16_t startAtIndex);
+			const ParameterWrapper *newValues, uint16_t startAtIndex) override;
 	/**
 	 * Implementation of ExecutableObjectIF function
 	 *
@@ -505,7 +518,7 @@ public:
 
 protected:
 	/**
-	 * The Returnvalues ID of this class, required by HasReturnvaluesIF
+	 * The Returnvalues id of this class, required by HasReturnvaluesIF
 	 */
 	static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_BASE;
 
@@ -527,114 +540,138 @@ protected:
 	static const DeviceCommandId_t NO_COMMAND_ID = -2;
 	static const MessageQueueId_t NO_COMMANDER = 0;
 
-	/**
+	/** Pointer to the raw packet that will be sent.*/
-	 * Pointer to the raw packet that will be sent.
-	 */
 	uint8_t *rawPacket = nullptr;
-	/**
+	/** Size of the #rawPacket. */
-	 * Size of the #rawPacket.
-	 */
 	uint32_t rawPacketLen = 0;
 
 	/**
 	 * The mode the device handler is currently in.
-	 *
 	 * This should never be changed directly but only with setMode()
 	 */
 	Mode_t mode;
-
 	/**
 	 * The submode the device handler is currently in.
-	 *
 	 * This should never be changed directly but only with setMode()
 	 */
 	Submode_t submode;
 
-	/**
+	/** This is the counter value from performOperation(). */
-	 * This is the counter value from performOperation().
-	 */
 	uint8_t pstStep = 0;
+	uint32_t pstIntervalMs = 0;
 
 	/**
-	 * wiretapping flag:
+	 * Wiretapping flag:
 	 *
-	 * indicates either that all raw messages to and from the device should be sent to #theOneWhoWantsToReadRawTraffic
+	 * indicates either that all raw messages to and from the device should be
-	 * or that all device TM should be downlinked to #theOneWhoWantsToReadRawTraffic
+	 * sent to #defaultRawReceiver
+	 * or that all device TM should be downlinked to #defaultRawReceiver.
 	 */
 	enum WiretappingMode {
 		OFF = 0, RAW = 1, TM = 2
 	} wiretappingMode;
-
 	/**
-	 * A message queue that accepts raw replies
+	 * @brief 	A message queue that accepts raw replies
 	 *
-	 * Statically initialized in initialize() to a configurable object. Used when there is no method
+	 * Statically initialized in initialize() to a configurable object.
-	 * of finding a recipient, ie raw mode and reporting erreonous replies
+	 * Used when there is no method of finding a recipient, ie raw mode and
+	 * reporting erroneous replies
 	 */
-	MessageQueueId_t defaultRawReceiver = 0;
+	MessageQueueId_t defaultRawReceiver = MessageQueueIF::NO_QUEUE;
-
 	store_address_t storedRawData;
 
 	/**
-	 * the message queue which wants to read all raw traffic
+	 * @brief 	The message queue which wants to read all raw traffic
-	 *
+	 * If #isWiretappingActive all raw communication from and to the device
-	 * if #isWiretappingActive all raw communication from and to the device will be sent to this queue
+	 * will be sent to this queue
 	 */
 	MessageQueueId_t requestedRawTraffic = 0;
 
-	/**
-	 * the object used to set power switches
-	 */
-	PowerSwitchIF *powerSwitcher = nullptr;
-
 	/**
 	 * Pointer to the IPCStore.
-	 *
 	 * This caches the pointer received from the objectManager in the constructor.
 	 */
 	StorageManagerIF *IPCStore = nullptr;
-
+	/** The comIF object ID is cached for the intialize() function */
-	/**
-	 * cached for init
-	 */
 	object_id_t deviceCommunicationId;
-
+	/** Communication object used for device communication */
-	/**
-	 * Communication object used for device communication
-	 */
 	DeviceCommunicationIF * communicationInterface = nullptr;
-
+	/** Cookie used for communication */
-	/**
-	 * Cookie used for communication
-	 */
 	CookieIF * comCookie;
 
+	/** Health helper for HasHealthIF */
+	HealthHelper healthHelper;
+	/** Mode helper for HasModesIF */
+	ModeHelper modeHelper;
+	/** Parameter helper for ReceivesParameterMessagesIF */
+	ParameterHelper parameterHelper;
+	/** Action helper for HasActionsIF */
+	ActionHelper actionHelper;
+	/** Housekeeping Manager */
+	//LocalDataPoolManager hkManager;
+
+	/**
+	 *  @brief Information about commands
+	 */
 	struct DeviceCommandInfo {
-		bool isExecuting; //!< Indicates if the command is already executing.
+		//! Indicates if the command is already executing.
-		uint8_t expectedReplies; //!< Dynamic value to indicate how many replies are expected. Inititated with 0.
+		bool isExecuting;
-		MessageQueueId_t sendReplyTo; //!< if this is != NO_COMMANDER, DHB was commanded externally and shall report everything to commander.
+		//! Dynamic value to indicate how many replies are expected.
+		//! Inititated with 0.
+		uint8_t expectedReplies;
+		//! if this is != NO_COMMANDER, DHB was commanded externally and shall
+		//! report everything to commander.
+		MessageQueueId_t sendReplyTo;
 	};
 	using DeviceCommandMap = std::map<DeviceCommandId_t, DeviceCommandInfo> ;
+	/**
+	 * Information about commands
+	 */
+	DeviceCommandMap deviceCommandMap;
 
 	/**
 	 * @brief Information about expected replies
-	 *
+	 * This is used to keep track of pending replies.
-	 * This is used to keep track of pending replies
 	 */
 	struct DeviceReplyInfo {
-		uint16_t maxDelayCycles; //!< The maximum number of cycles the handler should wait for a reply to this command.
+		//! The maximum number of cycles the handler should wait for a reply
-		uint16_t delayCycles; //!< The currently remaining cycles the handler should wait for a reply, 0 means there is no reply expected
+		//! to this command.
+		uint16_t maxDelayCycles;
+		//! The currently remaining cycles the handler should wait for a reply,
+		//! 0 means there is no reply expected
+		uint16_t delayCycles;
 		size_t replyLen = 0; //!< Expected size of the reply.
-		bool periodic; //!< if this is !=0, the delayCycles will not be reset to 0 but to maxDelayCycles
+		//! if this is !=0, the delayCycles will not be reset to 0 but to
-		DeviceCommandMap::iterator command; //!< The command that expects this reply.
+		//! maxDelayCycles
+		bool periodic = false;
+		//! The dataset used to access housekeeping data related to the
+		//! respective device reply. Will point to a dataset held by
+		//! the child handler (if one is specified)
+		// DataSetIF* dataSet = nullptr;
+		//! The command that expects this reply.
+		DeviceCommandMap::iterator command;
 	};
 
 	using DeviceReplyMap = std::map<DeviceCommandId_t, DeviceReplyInfo> ;
 	using DeviceReplyIter = DeviceReplyMap::iterator;
-
 	/**
-	 * The MessageQueue used to receive device handler commands and to send replies.
+	 * This map is used to check and track correct reception of all replies.
+	 *
+	 * It has multiple use:
+	 * - It stores the information on pending replies. If a command is sent,
+	 * 	 the DeviceCommandInfo.count is incremented.
+	 * - It is used to time-out missing replies. If a command is sent, the
+	 * 	 DeviceCommandInfo.DelayCycles is set to MaxDelayCycles.
+	 * - It is queried to check if a reply from the device can be interpreted.
+	 *   scanForReply() returns the id of the command a reply was found for.
+	 * The reply is ignored in the following cases:
+	 *     - No entry for the returned id was found
+	 *     - The deviceReplyInfo.delayCycles is == 0
 	 */
+	DeviceReplyMap deviceReplyMap;
+
+	//! The MessageQueue used to receive device handler commands
+	//! and to send replies.
 	MessageQueueIF* commandQueue = nullptr;
 
 	/**
@@ -642,23 +679,14 @@ protected:
 	 *
 	 * can be set to PoolVariableIF::NO_PARAMETER to deactivate thermal checking
 	 */
-	uint32_t deviceThermalStatePoolId;
+	uint32_t deviceThermalStatePoolId = PoolVariableIF::NO_PARAMETER;
 
 	/**
 	 * this is the datapool variable with the thermal request of the device
 	 *
 	 * can be set to PoolVariableIF::NO_PARAMETER to deactivate thermal checking
 	 */
-	uint32_t deviceThermalRequestPoolId;
+	uint32_t deviceThermalRequestPoolId = PoolVariableIF::NO_PARAMETER;
-
-	/**
-	 * Taking care of the health
-	 */
-	HealthHelper healthHelper;
-
-	ModeHelper modeHelper;
-
-	ParameterHelper parameterHelper;
 
 	/**
 	 * Optional Error code
@@ -676,13 +704,15 @@ protected:
 
 	bool switchOffWasReported; //!< Indicates if SWITCH_WENT_OFF was already thrown.
 
-	PeriodicTaskIF* executingTask = nullptr;//!< Pointer to the task which executes this component, is invalid before setTaskIF was called.
+	//! Pointer to the task which executes this component, is invalid
+	//! before setTaskIF was called.
+	PeriodicTaskIF* executingTask = nullptr;
 
 	static object_id_t powerSwitcherId; //!< Object which switches power on and off.
 
 	static object_id_t rawDataReceiverId; //!< Object which receives RAW data by default.
 
-	static object_id_t defaultFDIRParentId; //!< Object which may be the root cause of an identified fault.
+	static object_id_t defaultFdirParentId; //!< Object which may be the root cause of an identified fault.
 	/**
 	 * Helper function to report a missed reply
 	 *
@@ -730,28 +760,40 @@ protected:
 	/**
 	 * Do the transition to the main modes (MODE_ON, MODE_NORMAL and MODE_RAW).
 	 *
-	 * If the transition is complete, the mode should be set to the target mode, which can be deduced from the current mode which is
+	 * If the transition is complete, the mode should be set to the target mode,
+	 * which can be deduced from the current mode which is
 	 * [_MODE_TO_ON, _MODE_TO_NORMAL, _MODE_TO_RAW]
 	 *
-	 * The intended target submode is already set. The origin submode can be read in subModeFrom.
+	 * The intended target submode is already set.
+	 * The origin submode can be read in subModeFrom.
 	 *
-	 * If the transition can not be completed, the child class can try to reach an working mode by setting the mode either directly
+	 * If the transition can not be completed, the child class can try to reach
-	 * or setting the mode to an transitional mode (TO_ON, TO_NORMAL, TO_RAW) if the device needs to be reconfigured.
+	 * an working mode by setting the mode either directly
+	 * or setting the mode to an transitional mode (TO_ON, TO_NORMAL, TO_RAW)
+	 * if the device needs to be reconfigured.
 	 *
-	 * If nothing works, the child class can wait for the timeout and the base class will reset the mode to the mode where the transition
+	 * If nothing works, the child class can wait for the timeout and the base
+	 * class will reset the mode to the mode where the transition
 	 * originated from (the child should report the reason for the failed transition).
 	 *
-	 * The intended way to send commands is to set a flag (enum) indicating which command is to be sent here
+	 * The intended way to send commands is to set a flag (enum) indicating
-	 * and then to check in buildTransitionCommand() for the flag. This flag can also be used by doStartUp() and
+	 * which command is to be sent here and then to check in
-	 * doShutDown() to get a nice and clean implementation of buildTransitionCommand() without switching through modes.
+	 * buildTransitionCommand() for the flag. This flag can also be used by
+	 * doStartUp() and doShutDown() to get a nice and clean implementation of
+	 * buildTransitionCommand() without switching through modes.
 	 *
-	 * When the the condition for the completion of the transition is met, the mode can be set, for example in the parseReply() function.
+	 * When the the condition for the completion of the transition is met, the
+	 * mode can be set, for example in the scanForReply() function.
 	 *
-	 * The default implementation goes into the target mode;
+	 * The default implementation goes into the target mode directly.
 	 *
-	 * #transitionFailure can be set to a failure code indicating the reason for a failed transition
+	 * #transitionFailure can be set to a failure code indicating the reason
+	 * for a failed transition
 	 *
-	 * @param modeFrom the mode the transition originated from: [MODE_ON, MODE_NORMAL, MODE_RAW and _MODE_POWER_DOWN (if the mode changed from _MODE_START_UP to _MODE_TO_ON)]
+	 * @param modeFrom
+	 * The mode the transition originated from:
+	 * [MODE_ON, MODE_NORMAL, MODE_RAW and _MODE_POWER_DOWN (if the mode changed
+	 * from _MODE_START_UP to _MODE_TO_ON)]
 	 * @param subModeFrom the subMode of modeFrom
 	 */
 	virtual void doTransition(Mode_t modeFrom, Submode_t subModeFrom);
@@ -953,24 +995,11 @@ protected:
 	bool commandIsExecuting(DeviceCommandId_t commandId);
 
 	/**
-	 * This map is used to check and track correct reception of all replies.
+	 * set all switches returned by getSwitches()
 	 *
-	 * It has multiple use:
+	 * @param onOff on == @c SWITCH_ON; off != @c SWITCH_ON
-	 * - it stores the information on pending replies. If a command is sent, the DeviceCommandInfo.count is incremented.
-	 * - it is used to time-out missing replies. If a command is sent, the DeviceCommandInfo.DelayCycles is set to MaxDelayCycles.
-	 * - it is queried to check if a reply from the device can be interpreted. scanForReply() returns the id of the command a reply was found for.
-	 * The reply is ignored in the following cases:
-	 *     - No entry for the returned id was found
-	 *     - The deviceReplyInfo.delayCycles is == 0
 	 */
-	DeviceReplyMap deviceReplyMap;
+	void commandSwitch(ReturnValue_t onOff);
-
-	/**
-	 * Information about commands
-	 */
-	DeviceCommandMap deviceCommandMap;
-
-	ActionHelper actionHelper;
 private:
 
 	/**
@@ -997,15 +1026,16 @@ private:
 	};
 
 	/**
-	 * Info about the #cookie
+	 * @brief   Info about the #cookie
-	 *
 	 * Used to track the state of the communication
 	 */
 	CookieInfo cookieInfo;
 
+	/** the object used to set power switches */
+	PowerSwitchIF *powerSwitcher = nullptr;
+
 	/**
-	 * Used for timing out mode transitions.
+	 * @brief   Used for timing out mode transitions.
-	 *
 	 * Set when setMode() is called.
 	 */
 	uint32_t timeoutStart = 0;
@@ -1016,11 +1046,12 @@ private:
 	uint32_t childTransitionDelay;
 
 	/**
-	 * The mode the current transition originated from
+	 * @brief   The mode the current transition originated from
 	 *
 	 * This is private so the child can not change it and fuck up the timeouts
 	 *
-	 * IMPORTANT: This is not valid during _MODE_SHUT_DOWN and _MODE_START_UP!! (it is _MODE_POWER_DOWN during this modes)
+	 * IMPORTANT: This is not valid during _MODE_SHUT_DOWN and _MODE_START_UP!!
+	 * (it is _MODE_POWER_DOWN during this modes)
 	 *
 	 * is element of [MODE_ON, MODE_NORMAL, MODE_RAW]
 	 */
@@ -1031,13 +1062,6 @@ private:
 	 */
 	Submode_t transitionSourceSubMode;
 
-	/**
-	 * the switch of the device
-	 *
-	 * for devices using two switches override getSwitches()
-	 */
-	const uint8_t deviceSwitch;
-
 	/**
 	 * read the command queue
 	 */
@@ -1135,12 +1159,6 @@ private:
 	ReturnValue_t getStorageData(store_address_t storageAddress, uint8_t **data,
 			uint32_t *len);
 
-	/**
-	 * set all switches returned by getSwitches()
-	 *
-	 * @param onOff on == @c SWITCH_ON; off != @c SWITCH_ON
-	 */
-	void commandSwitch(ReturnValue_t onOff);
 
 	/**
 	 * @param modeTo either @c MODE_ON, MODE_NORMAL or MODE_RAW NOTHING ELSE!!!
@@ -1165,7 +1183,12 @@ private:
 	ReturnValue_t switchCookieChannel(object_id_t newChannelId);
 
 	ReturnValue_t handleDeviceHandlerMessage(CommandMessage *message);
+
+	virtual ReturnValue_t initializeAfterTaskCreation() override;
+
+	void parseReply(const uint8_t* receivedData,
+	            size_t receivedDataLen);
 };
 
-#endif /* DEVICEHANDLERBASE_H_ */
+#endif /* FRAMEWORK_DEVICEHANDLERS_DEVICEHANDLERBASE_H_ */